Description du sujet de thèse

Your Mission.
This thesis work will be carried out as part of Work Package 1 of the ANR LiSCaR project. Your main task will be to contribute to a unified approach to modeling, analysis, and control of lightweight Parallel Cable Robots (CDPRs). The overall objective is to combine the modeling and design of the lightweight structure and the CDPR into a common methodology, rather than considering the CDPR and its support structure as two separate systems. This approach will consist of elasto-static modeling, followed by dynamic modeling and modal analysis of lightweight-structure CDPRs. In addition, control strategies for these CDPRs based on surrogate models will be proposed, taking into account the behavior of the structure in terms of deformations and vibrations.

Details of the mission.
Elasto-static modeling of lightweight-structure CDPRs.
Dynamic modeling of lightweight-structure CDPRs.
Modal analysis of lightweight-structure CDPRs.
Control strategies for lightweight-structure CDPRs based on surrogate models.
Experiments on a prototype lightweight-structure CDPR for agricultural applications.
Drafting project reports and scientific publications.
Participation in LIRMM and LiSCaR project team meetings.

You will work at LIRMM in Montpellier as part of the DEXTER team in the robotics department (https://www.lirmm.fr/teams-en/dexter-en/) and in collaboration with partners in the ANR LiSCaR project (UMR ITAP INRAE, Lab. Navier UGE-ENPC-CNRS).

Your Profile
Education: You have a master's degree or engineering degree in robotics or a related field.

Skills:
Proficiency in calculation techniques applied to mechatronics, particularly robotics, and related software (e.g., Matlab/Simulink).
Proficiency in kinematic and dynamic modeling in robotics.
In-depth knowledge of programming (C++, Python, etc.).
Knowledge of cable robotics and/or agricultural robotics.
Knowledge of numerical simulation and experimentation methodologies.
General knowledge of algorithms used in robotics for control, signal processing, vision, and planning.
General knowledge of sensors (cameras, force sensors, encoders, inertial measurement units) and actuators used in robotics and their implementation.
Fluency in French.
Practical knowledge of English for research activities.

Soft Skills:
Rigorous and methodical approach.
Team spirit and ability to collaborate.
Curiosity and interest in research.

To apply, please submit your CV and cover letter.

Keywords: robotics, cable robots, robotics for agriculture, lightweight structures, modeling, digital simulations, and experiments on robot prototypes.

Contexte de travail

This thesis is part of the ANR LiSCaR project (Lightweight Structure Cable-driven parallel Robot), which focuses on the integrated analysis and design of large-scale cable-driven parallel robots (CDPRs) with lightweight structures. The overall objective of the project is to combine the modeling and design of lightweight structures and CDPRs into a common methodology, rather than considering CDPRs and their support structures as two separate systems. In particular, large-scale lightweight closed-frame structures will be examined. These two characteristics (large size and light weight) go hand in hand with large displacement modeling, which will be integrated into a nonlinear geometric analysis. In addition, the optimization of the structure's topology by coupling geometric and elastic stiffnesses will be addressed as a key theoretical development of the project. A methodology for deriving simplified models of the CDPR lightweight support structures will be developed to enable rapid calculations performed in real time within the CDPR motion control system. As a practical demonstration of the project's results, an ultra-lightweight support structure for a large-scale CDPR prototype, used in agricultural task demonstrations, will be produced and installed in a large field on the INRAE site.

Le poste se situe dans un secteur relevant de la protection du potentiel scientifique et technique (PPST), et nécessite donc, conformément à la réglementation, que votre arrivée soit autorisée par l'autorité compétente du MESR.

Contraintes et risques

The position is in a sector covered by the protection of scientific and technical potential (PPST) program, and therefore, in accordance with regulations, requires that your arrival be authorized by the competent authority at the MESR.